铣削加工用混联机器人参数曲线插补方法

Parameter Interpolation of Hybrid Robot for Milling Operation

传统加工装备难以满足高速、高精度、高柔性加工需求,研发高性能加工装备势在必行。以实现航空制造领域高速高精度加工为研究目的,提出一种基于混联机器人平台的加工方法。介绍一种新型五轴混联加工机器人(TriMule),并建立其运动学逆解模型。为提高加工精度,阐述了参数曲线插补原理及其在混联机器人加工装备上的应用。最后结合螺旋铣孔加工工艺,在混联机器人加工平台上进行钛合金铣孔试验。仿真和试验结果表明,采用参数曲线插补方法,能有效限制进给率波动,改善混联机器人加工精度。总结全文,指出混联机器人具备高刚度、高速度、高精度及高柔性等特点,在航空制造领域具有广阔的应用前景。

The traditional manufacturing equipment is hard to meet the demand of high-speed, high-precisioand high-fexible machining, Research and development of high-performance processing equipment is imperative. Iorder to achieve the goal of high-speed and high-precision machining, a 5-axis hybrid robot for milling operation iproposed. A brief introduction of the robot and its kinematic analysis are presented. To improve the machining accuracy, the principle of parametric curve interpolation and its application in the hybrid robot are studied. Finally, takinthe helical milling of holes as an example, the experiment of milling holes on titanium alloy is carried out. Simulatioand experimental results show that the parametric curve interpolation method can efectively limit the feedrate fuctuation and improve the machining accuracy. In the end, it is pointed out that the hybrid robot has the characteristicof high-rigidity, high-speed, high-precision and high-fexibility, and it has broad application prospects in the aviatiomanufacturing industry.